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2015 | OriginalPaper | Buchkapitel

CIT Brains KidSize Robot: RoboCup 2014 Best Humanoid Award Winner

verfasst von : Yasuo Hayashibara, Hideaki Minakata, Kiyoshi Irie, Taiki Fukuda, Victor Tee Sin Loong, Daiki Maekawa, Yusuke Ito, Takamasa Akiyama, Taiitiro Mashiko, Kohei Izumi, Yohei Yamano, Masayuki Ando, Yu Kato, Ryu Yamamoto, Takanari Kida, Shinya Takemura, Yuhdai Suzuki, Nung Duk Yun, Shigechika Miki, Yoshitaka Nishizaki, Kenji Kanemasu, Hajime Sakamoto

Erschienen in: RoboCup 2014: Robot World Cup XVIII

Verlag: Springer International Publishing

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Abstract

In this paper, we describe the system design of the robots developed by our Team CIT Brains for the RoboCup soccer humanoid KidSize league. We have been participating in the Humanoid League for eight years. Two years ago, we redesigned the system to put a large weight on maintainability and usability. In RoboCup 2014, we won the first prizes of 4on4 soccer and technical challenge. Consequently, we were awarded the Louis Vuitton Humanoid Cup. The system we developed has high mobility, well-designed control system, position estimation by a monocular camera, user-friendly interface and a simulator. The robot can walk speedily and robustly. It also has a feedback system with a gyro sensor to prevent falls. It detects positions of landmarks by color-based image processing. A particle filter is employed to localize the robot in the soccer field fusing the motion model and landmark observation.

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Vorheriges Kapitel RoboCup SPL 2014 Champion Team Paper

Nächstes Kapitel RoboCup 2014 Humanoid AdultSize League Winner

Hayashibara, Y., Minakata, H., Sakamoto, H., Irie, K., Kaminaga, H., Fujita, S., Fukuta, M., Horiuchi, T.: Development of autonomous soccer robot system “CIT Brains and Hajime Robot” for RoboCup humanoid. In: Proceedings of JSME Robotics and Mechatronics Conference 2008, 2P1-J18 (2008)

Minakata, H., Hayashibara, Y., Ichizawa, K., Horiuchi, T., Fukuta, M., Fujita, S., Kaminaga, H., Irie, K., Sakamoto, H.: A method of single camera RoboCup humanoid robot localization using cooperation with walking control. In: The 10th International Workshop on Advanced Motion Control, TF-000787 (2008)

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Titel: CIT Brains KidSize Robot: RoboCup 2014 Best Humanoid Award Winner
verfasst von: Yasuo Hayashibara
Hideaki Minakata
Kiyoshi Irie
Taiki Fukuda
Victor Tee Sin Loong
Daiki Maekawa
Yusuke Ito
Takamasa Akiyama
Taiitiro Mashiko
Kohei Izumi
Yohei Yamano
Masayuki Ando
Yu Kato
Ryu Yamamoto
Takanari Kida
Shinya Takemura
Yuhdai Suzuki
Nung Duk Yun
Shigechika Miki
Yoshitaka Nishizaki
Kenji Kanemasu
Hajime Sakamoto
Verlag: Springer International Publishing
Buch: RoboCup 2014: Robot World Cup XVIII
Print ISBN: 978-3-319-18614-6

Electronic ISBN: 978-3-319-18615-3

Copyright-Jahr: 2015
DOI: https://doi.org/10.1007/978-3-319-18615-3_7

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